PxMat33.h

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#ifndef PXFOUNDATION_PXMAT33_H
#define PXFOUNDATION_PXMAT33_H

#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxMat33
{
  public:
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33()
    {
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33(PxIDENTITY r)
    : column0(1.0f, 0.0f, 0.0f), column1(0.0f, 1.0f, 0.0f), column2(0.0f, 0.0f, 1.0f)
    {
        PX_UNUSED(r);
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33(PxZERO r) : column0(0.0f), column1(0.0f), column2(0.0f)
    {
        PX_UNUSED(r);
    }

    PX_CUDA_CALLABLE PxMat33(const PxVec3& col0, const PxVec3& col1, const PxVec3& col2)
    : column0(col0), column1(col1), column2(col2)
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat33(float r)
    : column0(r, 0.0f, 0.0f), column1(0.0f, r, 0.0f), column2(0.0f, 0.0f, r)
    {
    }

    explicit PX_CUDA_CALLABLE PX_INLINE PxMat33(float values[])
    : column0(values[0], values[1], values[2])
    , column1(values[3], values[4], values[5])
    , column2(values[6], values[7], values[8])
    {
    }

    explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33(const PxQuat& q)
    {
        const float x = q.x;
        const float y = q.y;
        const float z = q.z;
        const float w = q.w;

        const float x2 = x + x;
        const float y2 = y + y;
        const float z2 = z + z;

        const float xx = x2 * x;
        const float yy = y2 * y;
        const float zz = z2 * z;

        const float xy = x2 * y;
        const float xz = x2 * z;
        const float xw = x2 * w;

        const float yz = y2 * z;
        const float yw = y2 * w;
        const float zw = z2 * w;

        column0 = PxVec3(1.0f - yy - zz, xy + zw, xz - yw);
        column1 = PxVec3(xy - zw, 1.0f - xx - zz, yz + xw);
        column2 = PxVec3(xz + yw, yz - xw, 1.0f - xx - yy);
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33(const PxMat33& other)
    : column0(other.column0), column1(other.column1), column2(other.column2)
    {
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxMat33& operator=(const PxMat33& other)
    {
        column0 = other.column0;
        column1 = other.column1;
        column2 = other.column2;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE static const PxMat33 createDiagonal(const PxVec3& d)
    {
        return PxMat33(PxVec3(d.x, 0.0f, 0.0f), PxVec3(0.0f, d.y, 0.0f), PxVec3(0.0f, 0.0f, d.z));
    }

    PX_CUDA_CALLABLE PX_INLINE bool operator==(const PxMat33& m) const
    {
        return column0 == m.column0 && column1 == m.column1 && column2 == m.column2;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 getTranspose() const
    {
        const PxVec3 v0(column0.x, column1.x, column2.x);
        const PxVec3 v1(column0.y, column1.y, column2.y);
        const PxVec3 v2(column0.z, column1.z, column2.z);

        return PxMat33(v0, v1, v2);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33 getInverse() const
    {
        const float det = getDeterminant();
        PxMat33 inverse;

        if(det != 0)
        {
            const float invDet = 1.0f / det;

            inverse.column0.x = invDet * (column1.y * column2.z - column2.y * column1.z);
            inverse.column0.y = invDet * -(column0.y * column2.z - column2.y * column0.z);
            inverse.column0.z = invDet * (column0.y * column1.z - column0.z * column1.y);

            inverse.column1.x = invDet * -(column1.x * column2.z - column1.z * column2.x);
            inverse.column1.y = invDet * (column0.x * column2.z - column0.z * column2.x);
            inverse.column1.z = invDet * -(column0.x * column1.z - column0.z * column1.x);

            inverse.column2.x = invDet * (column1.x * column2.y - column1.y * column2.x);
            inverse.column2.y = invDet * -(column0.x * column2.y - column0.y * column2.x);
            inverse.column2.z = invDet * (column0.x * column1.y - column1.x * column0.y);

            return inverse;
        }
        else
        {
            return PxMat33(PxIdentity);
        }
    }

    PX_CUDA_CALLABLE PX_INLINE float getDeterminant() const
    {
        return column0.dot(column1.cross(column2));
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33 operator-() const
    {
        return PxMat33(-column0, -column1, -column2);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33 operator+(const PxMat33& other) const
    {
        return PxMat33(column0 + other.column0, column1 + other.column1, column2 + other.column2);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33 operator-(const PxMat33& other) const
    {
        return PxMat33(column0 - other.column0, column1 - other.column1, column2 - other.column2);
    }

    PX_CUDA_CALLABLE PX_INLINE const PxMat33 operator*(float scalar) const
    {
        return PxMat33(column0 * scalar, column1 * scalar, column2 * scalar);
    }

    friend PxMat33 operator*(float, const PxMat33&);

    PX_CUDA_CALLABLE PX_INLINE const PxVec3 operator*(const PxVec3& vec) const
    {
        return transform(vec);
    }

    // a <op>= b operators

    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxMat33 operator*(const PxMat33& other) const
    {
        // Rows from this <dot> columns from other
        // column0 = transform(other.column0) etc
        return PxMat33(transform(other.column0), transform(other.column1), transform(other.column2));
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33& operator+=(const PxMat33& other)
    {
        column0 += other.column0;
        column1 += other.column1;
        column2 += other.column2;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33& operator-=(const PxMat33& other)
    {
        column0 -= other.column0;
        column1 -= other.column1;
        column2 -= other.column2;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33& operator*=(float scalar)
    {
        column0 *= scalar;
        column1 *= scalar;
        column2 *= scalar;
        return *this;
    }

    PX_CUDA_CALLABLE PX_INLINE PxMat33& operator*=(const PxMat33& other)
    {
        *this = *this * other;
        return *this;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE float operator()(unsigned int row, unsigned int col) const
    {
        return (*this)[col][row];
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE float& operator()(unsigned int row, unsigned int col)
    {
        return (*this)[col][row];
    }

    // Transform etc

    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3 transform(const PxVec3& other) const
    {
        return column0 * other.x + column1 * other.y + column2 * other.z;
    }

    PX_CUDA_CALLABLE PX_INLINE const PxVec3 transformTranspose(const PxVec3& other) const
    {
        return PxVec3(column0.dot(other), column1.dot(other), column2.dot(other));
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE const float* front() const
    {
        return &column0.x;
    }

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3& operator[](unsigned int num)
    {
        return (&column0)[num];
    }
    PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& operator[](unsigned int num) const
    {
        return (&column0)[num];
    }

    // Data, see above for format!

    PxVec3 column0, column1, column2; // the three base vectors
};

// implementation from PxQuat.h
PX_CUDA_CALLABLE PX_INLINE PxQuat::PxQuat(const PxMat33& m)
{
    if(m.column2.z < 0)
    {
        if(m.column0.x > m.column1.y)
        {
            float t = 1 + m.column0.x - m.column1.y - m.column2.z;
            *this = PxQuat(t, m.column0.y + m.column1.x, m.column2.x + m.column0.z, m.column1.z - m.column2.y) *
                    (0.5f / PxSqrt(t));
        }
        else
        {
            float t = 1 - m.column0.x + m.column1.y - m.column2.z;
            *this = PxQuat(m.column0.y + m.column1.x, t, m.column1.z + m.column2.y, m.column2.x - m.column0.z) *
                    (0.5f / PxSqrt(t));
        }
    }
    else
    {
        if(m.column0.x < -m.column1.y)
        {
            float t = 1 - m.column0.x - m.column1.y + m.column2.z;
            *this = PxQuat(m.column2.x + m.column0.z, m.column1.z + m.column2.y, t, m.column0.y - m.column1.x) *
                    (0.5f / PxSqrt(t));
        }
        else
        {
            float t = 1 + m.column0.x + m.column1.y + m.column2.z;
            *this = PxQuat(m.column1.z - m.column2.y, m.column2.x - m.column0.z, m.column0.y - m.column1.x, t) *
                    (0.5f / PxSqrt(t));
        }
    }
}

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif // #ifndef PXFOUNDATION_PXMAT33_H